_RawFTDataSample.py

Go to the documentation of this file.

"""autogenerated by genpy from ethercat_hardware/RawFTDataSample.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct


class RawFTDataSample(genpy.Message):
  _md5sum = "6c3b6e352fd24802b2d95b606df80de6"
  _type = "ethercat_hardware/RawFTDataSample"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """# One raw Data sample from WG035 F/T input via WG006 (gripper MCB).
uint64  sample_count
int16[] data
uint16  vhalf
"""
  __slots__ = ['sample_count','data','vhalf']
  _slot_types = ['uint64','int16[]','uint16']

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.

    The available fields are:
       sample_count,data,vhalf

    :param args: complete set of field values, in .msg order
    :param kwds: use keyword arguments corresponding to message field names
    to set specific fields.
    """
    if args or kwds:
      super(RawFTDataSample, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.sample_count is None:
        self.sample_count = 0
      if self.data is None:
        self.data = []
      if self.vhalf is None:
        self.vhalf = 0
    else:
      self.sample_count = 0
      self.data = []
      self.vhalf = 0

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      buff.write(_struct_Q.pack(self.sample_count))
      length = len(self.data)
      buff.write(_struct_I.pack(length))
      pattern = '<%sh'%length
      buff.write(struct.pack(pattern, *self.data))
      buff.write(_struct_H.pack(self.vhalf))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      end = 0
      start = end
      end += 8
      (self.sample_count,) = _struct_Q.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sh'%length
      start = end
      end += struct.calcsize(pattern)
      self.data = struct.unpack(pattern, str[start:end])
      start = end
      end += 2
      (self.vhalf,) = _struct_H.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      buff.write(_struct_Q.pack(self.sample_count))
      length = len(self.data)
      buff.write(_struct_I.pack(length))
      pattern = '<%sh'%length
      buff.write(self.data.tostring())
      buff.write(_struct_H.pack(self.vhalf))
    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    :param str: byte array of serialized message, ``str``
    :param numpy: numpy python module
    """
    try:
      end = 0
      start = end
      end += 8
      (self.sample_count,) = _struct_Q.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      pattern = '<%sh'%length
      start = end
      end += struct.calcsize(pattern)
      self.data = numpy.frombuffer(str[start:end], dtype=numpy.int16, count=length)
      start = end
      end += 2
      (self.vhalf,) = _struct_H.unpack(str[start:end])
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_Q = struct.Struct("<Q")
_struct_H = struct.Struct("<H")